/*
 * @Author: _oufen
 * @Date: 2023-07-18 16:43:48
 * @LastEditTime: 2023-07-18 19:27:20
 * @Description: 
 */
#ifndef __PID_H__
#define __PID_H__
#include "sysconfig.h"
#include "system.h"
#include "filter.h"

extern volatile int16_t Moto_PWM_1, Moto_PWM_2, Moto_PWM_3, Moto_PWM_4;

void Control(S_float_angle att_in, S_float_xyz gyr_in, RC_data rc_in, uint8_t armed);

#endif /* __PID_H */
